Nonlinear adaptive control system design and experiment for a 3-DOF model helicopter |
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Authors: | Masatoshi Nishi Mitsuaki Ishitobi Kazuhide Nakasaki |
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Affiliation: | (1) Department of Mechanical Systems Engineering, Kumamoto University, Kumamoto 860-8555, Japan |
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Abstract: | This paper deals with model following control of a model helicopter with three degree-of-freedom. Since the decoupling matrix
is singular, a nonlinear structure algorithm is used to design the controller. Furthermore, since the model dynamics are described
linearly by unknown system parameters, a well-known parameter estimation technique is introduced. The integral type of estimation
model is proposed here since the use of the derivative type of model cannot obtain the desired estimation result. The experimental
results show the effectiveness of the proposed method.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 |
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Keywords: | Model helicopters Nonlinear control Model following control Parameter identification |
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